# Kinematic Analysis of 2 DoF Spherical Mechanism Applying Constraint Equations

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## Abstract

Constraint equations for complex robot structures can lead to a large number of equations. Also, constraint equations permits universal solutions for various mechanisms and solving a large number of equations can be simplified with numerical solutions. Therefore, if discreet solutions are allowed, a universal way to determine the necessary control parameters of a mechanism for different positions, or corresponding positions for different driving parameters is to use constraint equations. A direct kinematical analysis of a 2 DoF spherical mechanism with two driving axes is presented; a numerical simulation is made for given arm dimensions; according to specified degrees of freedom, a simplified CAD model is built and driven with the angular parameters.

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# MACRo 2015

## Proceedings of the 5th International Conference on Recent Achievements in Mechatronics, Automation, Computer Sciences and Robotics

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